Trajectory tracking method based on the circulation of feasible path planning.

The control method is the central point of the unmanned vehicles. As the core system to guarantee the properties of self-decision and trajectory tracking of the unmanned vehicles, a new kind of trajectory tracking method based on the circulation of feasible path planning for the unmanned vehicles ar...

Descripción completa

Guardado en:
Detalles Bibliográficos
Autores principales: Yi Yu, Peng Han
Formato: article
Lenguaje:EN
Publicado: Public Library of Science (PLoS) 2021
Materias:
R
Q
Acceso en línea:https://doaj.org/article/624d7e0923b94c01a0ac13b492c8daae
Etiquetas: Agregar Etiqueta
Sin Etiquetas, Sea el primero en etiquetar este registro!
Descripción
Sumario:The control method is the central point of the unmanned vehicles. As the core system to guarantee the properties of self-decision and trajectory tracking of the unmanned vehicles, a new kind of trajectory tracking method based on the circulation of feasible path planning for the unmanned vehicles are proposed in this article which considered the dynamics and kinematics characteristics of vehicles. The multi-trace-points cooperative trajectory tracking control strategy on the basis of the circulation of feasible path generation method is proposed and the lateral controller is designed for trajectory tracking. The process of feasible path generation is conducted once the tracking error exceeded. A simulation platform of the trajectory tracking simulation of unmanned vehicles is built considering the mechanical properties of system elements and the mechanical characteristics. Finally, the proposed trajectory tracking method is verified. The tracking error would be reduced to make sure the vehicles move along the pre-set virtual track.